From 7bfd6f1628565dde03bb06385bbc2ee1a9ae3808 Mon Sep 17 00:00:00 2001 From: xchoo Date: Wed, 23 Nov 2016 16:36:45 -0500 Subject: [PATCH] Added forced motor bypass when mtr_arm_class is None. --- _spaun/modules/motor_system.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/_spaun/modules/motor_system.py b/_spaun/modules/motor_system.py index 290090e..deb1931 100644 --- a/_spaun/modules/motor_system.py +++ b/_spaun/modules/motor_system.py @@ -162,6 +162,10 @@ def init_module(self): nengo.Connection(self.motor_bypass.output, target_diff_norm.neurons, transform=[[-3.0]] * target_diff_norm.n_neurons) + if arm_obj is None: + # Disable the target_diff_norm when there is no arm object + nengo.Connection(bias_node, target_diff_norm.neurons, + transform=[[-10.0]] * target_diff_norm.n_neurons) # ------ MOTOR PEN DOWN CONTROL ------ pen_down = cfg.make_thresh_ens_net()